I also heard it in a youtube video as read by a fan, only the poem title was listed as "This Is For You" from Selected Poems 1956-68

Does anyone have Selected Poems 1956-68 and can verify the title for me?

Thank you for considering. Here is the poem:

This is for you
it is my full heart
it is the book I meant to read you
when we were old
Now I am a shadow
I am restless as an empire
You are the woman
who released me
I saw you watching the moon
you did note hesitate
to love me with it
I saw you honouring the wind-flowers
caught in the rocks
you loved me with them
At night I saw you dance alone
on the small wet pebbles
of the shoreline
and you welcomed me into the circle
more than a guest
All this happened
in the truth of time
in the truth of flesh
I saw you with a child
you brought me to this perfume
and his visions
without demand of blood
On so many wooden tables
adorned with food and candles
a thousand sacraments
which you carried in your basket
I visited my clay
I visited my birth
and you guarded my back
as I became small
and frightened enough
to be born again
I wanted you for your beauty
and you gave me more than yourself
you shared your beauty
this I only learned tonight
as I recall the mirrors
you walked away from
after you had given them
whatever they claimed
for my initiation
Now I am a shadow
I long for the boundaries
of my wandering
and I move
with the energy of your prayer
and I move
in the direction of your prayer
for you are kneeling
like a bouquet
in a cave of a bone
behind my forehead
and I move toward a love
you have dreamed for me